# Force\_mode() to keep robot stationary

**URL:** <https://forum.universal-robots.com/t/force-mode-to-keep-robot-stationary/2900>\
**Category:** URScript\
**Created:** [October 10, 2018, 7:07pm UTC](https://forum.universal-robots.com/t/force-mode-to-keep-robot-stationary/2900 "2018-10-10T19:07:07Z")\
**Posts on this page:** 2\
**Page:** 1

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**Author:** ![timb](https://avatars.discourse-cdn.com/v4/letter/t/3e96dc/32.png) [@timb](https://forum.universal-robots.com/u/timb)\
**Post date:** [October 10, 2018, 7:07pm UTC](https://forum.universal-robots.com/t/force-mode-to-keep-robot-stationary/2900/1 "2018-10-10T19:07:07Z")

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Our application brings the robot to the part then extends the end-of-arm tooling to perform its task. The problem is the robot deflects away from the part. Is there a way to use force mode to prevent this deflection?

Thanks

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**Author:** ![anon65613222](https://avatars.discourse-cdn.com/v4/letter/a/3ec8ea/32.png) [@anon65613222](https://forum.universal-robots.com/u/anon65613222)\
**Post date:** [October 16, 2018, 7:57am UTC](https://forum.universal-robots.com/t/force-mode-to-keep-robot-stationary/2900/2 "2018-10-16T07:57:19Z")

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Hello!

How much force is the end effector applying?

If it’s an insertion, you can try to use the Frame option, force in the Tools Z direction and limit the X and Y movements, the rotations Rx, Ry, Rz aswell as the speed in the Z direction. In force mode it will be able to deflect, but I don’t know if it will apply more force or have a violation if the tool applies an opposite force. But if ya try, tell us how it goes!

But without a FT sensor, it will be +/- 10 N. You can always have it in force mode for a few seconds (With a wait), but I assume it is still more likely that it will then deflect if you are not using a e-series or a FT Sensor.